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szenergy / duro_gps_driver

:blue_book: ROS/ROS2 driver for SwiftNav Duro Inertial GPS / GNSS receivers
BSD 3-Clause "New" or "Revised" License
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Can't get orientation data from pose #2

Closed skyetheguy closed 3 years ago

skyetheguy commented 3 years ago

How can I get the orientation data? Right now the only non-zero values I get from the pose is the position (x, y, z). I'm using a swift multi in simulation mode with msg IDs 544 and 545 enabled for tcp server 0.

But in the swift sbp spec document it says swift multi and duro do not produce these messages (544 and 545)...

https://www.swiftnav.com/latest/sbp-specification

horverno commented 3 years ago

Duro does provide orientation, we are using it that way. I never used the Piksi Multi, but I'm guessing Multi also has an inertial and a non inertial version like Duro. Are you using the inertial one? If yes, did you enable the IMU?

skyetheguy commented 3 years ago

Ah, I didn't realise they had "inertial" versions of the products.. I don't think there is an inertial version of the multi though as I don't see one on their store.

I do have the IMU enabled but I'm guessing this feature is reserved only for the Duro Inertial and not the regular Duro?

horverno commented 3 years ago

Yes, i think it is is reserved only for the Duro Inertial, but if you want to be 100% sure you should ask the Swiftnav support, they reply quite quickly.